/PROG  CESHI01
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "53345096C";
PROG_SIZE	= 2226;
CREATE		= DATE 18-08-09  TIME 16:29:42;
MODIFIED	= DATE 18-08-09  TIME 16:35:02;
FILE_NAME	= PNS0050;
VERSION		= 0;
LINE_COUNT	= 60;
MEMORY_SIZE	= 2626;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:  !******************************** ;
   2:  !     COSMA METAL FORMING  ;
   3:  !******************************** ;
   4:  !  LINE: CHINA CHANGSHA ;
   5:  !  ROBOT: R23 ;
   6:  !  PROGRAM: PNS0050 ;
   7:  !  PART:53345096 ;
   8:  !HL15.7.8*********************** ;
   9:   ;
  10:  !INITIALIZE ;
  11:  MOVE TO HOME    ;
  12:  R[14]=90    ;
  13:  R[18]=1    ;
  14:  R[19]=.15    ;
  15:   ;
  16:  !------------------------------- ;
  17:  !BEGINNING OF PROGRAM ;
  18:  CALL PARTDROP    ;
  19:  COL GUARD ADJUST R[14] ;
  20:  UTOOL_NUM=1 ;
  21:  UFRAME_NUM=0 ;
  22:  PAYLOAD[3] ;
  23:   ;
  24:  !INITIATE TO PICK-POUNCE ;
  25:J P[1:MIDDLE] 50% CNT100 ACC100    ;
  26:J P[2:PICK POUNCE] 50% CNT100 ACC100    ;
  27:   ;
  28:   ;
  29:  LBL[25] ;
  30:  TIMER[3]=START ;
  31:J P[3:PICK APPROACH] 100% CNT70 ACC100    ;
  32:   ;
  33:J P[4:PICK] 100% CNT0 ACC100 BREAK    ;
  34:  PAYLOAD[4] ;
  35:J P[5:PICK DEPART] 100% CNT50 ACC100    ;
  36:J P[7:PICK CLEAR] 100% CNT100 ACC100    ;
  37:   ;
  38:  LBL[30:GOTO DROP POUNCE] ;
  39:J P[8:DROP POUNCE] 100% CNT100 ACC100    ;
  40:   ;
  41:J P[9:DROP SNEAK] 100% CNT100 ACC100    ;
  42:   ;
  43:J P[10:DROP APPROACH] 100% CNT50 ACC100    ;
  44:J P[11:DROP] 100% CNT10 TB R[19]sec,CALL PARTDROP ACC100    ;
  45:  PAYLOAD[3] ;
  46:   ;
  47:J P[12:DROP DEPART] 100% CNT60 ACC100    ;
  48:J P[13:DROP CLEAR] 100% CNT100 ACC100    ;
  49:  !GOTO PICK POUNCE ;
  50:J P[2:PICK POUNCE] 100% CNT100 ACC100 BREAK    ;
  51:  IF DI[29]=ON,JMP LBL[90] ;
  52:  JMP LBL[25] ;
  53:   ;
  54:  LBL[90:END OF CYCLE] ;
  55:  TIMER[1]=STOP ;
  56:  R[4]=TIMER[1]    ;
  57:J P[1:MIDDLE] 50% CNT100    ;
  58:  MOVE TO HOME    ;
  59:   ;
  60:  LBL[100:END OF PROGRAM] ;
/POS
P[1:"MIDDLE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2086.456  mm,	Y =     -.007  mm,	Z =  -780.000  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =  -180.000 deg,
	E1=   107.700 deg
};
P[2:"PICK POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2193.270  mm,	Y =  1575.999  mm,	Z = -1082.320  mm,
	W =   179.720 deg,	P =     -.100 deg,	R =   142.699 deg,
	E1=   143.549 deg
};
P[3:"PICK APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2648.111  mm,	Y =  3099.361  mm,	Z = -1045.240  mm,
	W =   179.668 deg,	P =     -.495 deg,	R =    90.666 deg,
	E1=   197.149 deg
};
P[4:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2648.112  mm,	Y =  3099.360  mm,	Z = -1211.961  mm,
	W =   179.668 deg,	P =     -.494 deg,	R =    90.666 deg,
	E1=   197.149 deg
};
P[5:"PICK DEPART"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2648.110  mm,	Y =  3099.361  mm,	Z =  -947.000  mm,
	W =   179.668 deg,	P =     -.495 deg,	R =    90.666 deg,
	E1=   197.149 deg
};
P[7:"PICK CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2192.843  mm,	Y =  1644.393  mm,	Z =  -953.917  mm,
	W =   179.607 deg,	P =      .259 deg,	R =   140.466 deg,
	E1=   146.779 deg
};
P[8:"DROP POUNCE"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2117.527  mm,	Y = -1000.000  mm,	Z =  -905.000  mm,
	W =  -179.595 deg,	P =      .202 deg,	R =  -159.711 deg,
	E1=    86.239 deg
};
P[9:"DROP SNEAK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2208.726  mm,	Y = -1733.109  mm,	Z =  -909.730  mm,
	W =  -179.268 deg,	P =     -.043 deg,	R =  -142.417 deg,
	E1=    69.138 deg
};
P[10:"DROP APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2654.836  mm,	Y = -3271.538  mm,	Z =  -893.883  mm,
	W =  -179.612 deg,	P =    -3.048 deg,	R =   -92.161 deg,
	E1=    19.472 deg
};
P[11:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2654.835  mm,	Y = -3271.538  mm,	Z = -1154.042  mm,
	W =  -179.612 deg,	P =    -3.048 deg,	R =   -92.161 deg,
	E1=    19.472 deg
};
P[12:"DROP DEPART"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2654.835  mm,	Y = -3271.538  mm,	Z = -1078.202  mm,
	W =  -179.612 deg,	P =    -3.048 deg,	R =   -92.161 deg,
	E1=    19.472 deg
};
P[13:"DROP CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2121.883  mm,	Y = -1399.834  mm,	Z = -1047.299  mm,
	W =  -179.209 deg,	P =      .175 deg,	R =  -150.064 deg,
	E1=    76.887 deg
};
/END
